基于AGA的ADRC及其应用研究

Research of ADRC and its Application Based on AGA

提出了自适应遗传算法(AGA)选取与优化自抗扰控制器(ADRC)参数的方法,较好地解决了其过多参数难以调节的问题。采用一阶ADRC对连续搅拌反应釜(CSTR)系统进行控制,并用简化的一阶ADRC控制平面两连杆机械手水平方向的正弦运动,仿真结果验证了算法的可行性和有效性。

A method of adopting the Adaptive Genetic Algorithm （AGA） to optimize parameters of the Active Disturbance Rejection Controller （ADRC） was proposed, which well solved the problem of adjusting its over-abundant parameters. A first-order ADRC was used to control the system of Continuous Stirred Tank Reactor （CSTR） and a simplified first-order ADRC was used to control the sinusoidal movement of the plane two-link manipulator in horizontal direction, Simulation results Prove the feasibility and validity of the algorithm.